DOCS-1020: Add arm control (#2031)

viamrobotics · Oct 13, 2023 · 975a3ab · 975a3ab
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diff --git a/assets/components/arm/control.png b/assets/components/arm/control.png
diff --git a/docs/components/arm/eva.md b/docs/components/arm/eva.md
@@ -30,9 +30,4 @@ Configure an `eva` arm as follows:
 {{% /tab %}}
 {{< /tabs >}}
 
-The following attributes are available for fake arms:
-
-<!-- prettier-ignore -->
-| Name | Inclusion | Description |
-| ---- | --------- | ----------- |
-| | |  |
+{{< readfile "/static/include/components/test-control/arm-control.md" >}}
diff --git a/docs/components/arm/fake.md b/docs/components/arm/fake.md
@@ -97,3 +97,5 @@ If neither are specified, an error is thrown asking for specification.
 If both attributes are specified, an error is thrown stating "can only populate either ArmModel or ModelPath - not both".
 
 {{% /alert %}}
+
+{{< readfile "/static/include/components/test-control/arm-control.md" >}}
diff --git a/docs/components/arm/ur5e.md b/docs/components/arm/ur5e.md
@@ -74,3 +74,5 @@ The following attributes are available for `ur5e` arms:
 | --------- | ---- | ----------| ----------- |
 | `speed_degs_per_sec` | float | **Required** | Desired maximum speed of joint movement in degrees per second. Must be between `3` and `180`. |
 | `host` | string | **Required** | The IP address of the arm's system on your network. Find this when setting up your UR5e. |
+
+{{< readfile "/static/include/components/test-control/arm-control.md" >}}
diff --git a/docs/components/arm/xarm6.md b/docs/components/arm/xarm6.md
@@ -97,3 +97,5 @@ The following attributes are available for `xArm6` arms:
 | `acceleration_degs_per_sec_per_sec`  | float | Optional | Desired maximum acceleration of joint movement in degrees/sec<sup>2</sup>. <br> Default: `50.0` |
 
 See [the frame system Service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above.
+
+{{< readfile "/static/include/components/test-control/arm-control.md" >}}
diff --git a/docs/components/arm/xarm7.md b/docs/components/arm/xarm7.md
@@ -97,3 +97,5 @@ The following attributes are available for `xArm7` arms:
 | `acceleration_degs_per_sec_per_sec` | float | Optional | Desired maximum acceleration of joint movement in degrees/sec<sup>2</sup>. <br> Default: `50.0` |
 
 See [the frame system service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above.
+
+{{< readfile "/static/include/components/test-control/arm-control.md" >}}
diff --git a/docs/components/arm/xarmlite.md b/docs/components/arm/xarmlite.md
@@ -121,3 +121,5 @@ The following attributes are available for `xArmLite` arms:
 | `acceleration_degs_per_sec_per_sec` | float | Optional | Desired maximum acceleration of joint movement in degrees/sec<sup>2</sup>. <br> Default: `50.0` |
 
 See [the frame system service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above.
+
+{{< readfile "/static/include/components/test-control/arm-control.md" >}}
diff --git a/docs/components/arm/yahboom-dofbot.md b/docs/components/arm/yahboom-dofbot.md
@@ -63,3 +63,5 @@ Edit and fill in the attributes as applicable.
 
 {{% /tab %}}
 {{< /tabs >}}
+
+{{< readfile "/static/include/components/test-control/arm-control.md" >}}
diff --git a/static/include/components/test-control/arm-control.md b/static/include/components/test-control/arm-control.md
@@ -0,0 +1,9 @@
+## Test the arm
+
+Once your arm is configured and connected, go to the [**Control** tab](/manage/fleet/robots/#control) and click on the arm's drop-down panel.
+
+Use the buttons to move the end position or the joints and check whether it moves as expected.
+
+{{<imgproc src="/components/arm/control.png" resize="450x" declaredimensions=true alt="Arm control panel.">}}
+
+If the arm does not appear on the **Control** tab, or if you notice unexpected behavior, check your robot's [**Logs** tab](/manage/fleet/robots/#logs) for errors, and review the configuration.
Original file line number	Diff line number	Diff line change
Expand Up		@@ -97,3 +97,5 @@ If neither are specified, an error is thrown asking for specification.
		If both attributes are specified, an error is thrown stating "can only populate either ArmModel or ModelPath - not both".

		{{% /alert %}}

		{{< readfile "/static/include/components/test-control/arm-control.md" >}}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -97,3 +97,5 @@ The following attributes are available for `xArm6` arms:
		\| `acceleration_degs_per_sec_per_sec` \| float \| Optional \| Desired maximum acceleration of joint movement in degrees/sec<sup>2</sup>. <br> Default: `50.0` \|

		See [the frame system Service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above.

		{{< readfile "/static/include/components/test-control/arm-control.md" >}}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -121,3 +121,5 @@ The following attributes are available for `xArmLite` arms:
		\| `acceleration_degs_per_sec_per_sec` \| float \| Optional \| Desired maximum acceleration of joint movement in degrees/sec<sup>2</sup>. <br> Default: `50.0` \|

		See [the frame system service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above.

		{{< readfile "/static/include/components/test-control/arm-control.md" >}}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -63,3 +63,5 @@ Edit and fill in the attributes as applicable.

		{{% /tab %}}
		{{< /tabs >}}

		{{< readfile "/static/include/components/test-control/arm-control.md" >}}